CN115158211B - Rear-end collision prevention control method and device, electronic equipment and storage medium - Google Patents

Rear-end collision prevention control method and device, electronic equipment and storage medium Download PDF

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Publication number
CN115158211B
CN115158211B CN202210965955.5A CN202210965955A CN115158211B CN 115158211 B CN115158211 B CN 115158211B CN 202210965955 A CN202210965955 A CN 202210965955A CN 115158211 B CN115158211 B CN 115158211B
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China
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sensing system
preset
protection device
end collision
vehicle
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CN115158211A (en
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柳少康
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Beijing Jingxiang Technology Co Ltd
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Beijing Jingxiang Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q3/00—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors
    • B60Q3/70—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors characterised by the purpose
    • B60Q3/74—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors characterised by the purpose for overall compartment lighting; for overall compartment lighting in combination with specific lighting, e.g. room lamps with reading lamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q3/00—Arrangement of lighting devices for vehicle interiors; Lighting devices specially adapted for vehicle interiors
    • B60Q3/80—Circuits; Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/56—Fittings damping bouncing force in truck collisions, e.g. bumpers; Arrangements on high-riding vehicles, e.g. lorries, for preventing vehicles or objects from running thereunder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0136—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to actual contact with an obstacle, e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R25/00—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles
    • B60R25/01—Fittings or systems for preventing or indicating unauthorised use or theft of vehicles operating on vehicle systems or fittings, e.g. on doors, seats or windscreens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/01013—Means for detecting collision, impending collision or roll-over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/01204—Actuation parameters of safety arrangents
    • B60R2021/01211—Expansion of air bags
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/01204—Actuation parameters of safety arrangents
    • B60R2021/01252—Devices other than bags
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/01204—Actuation parameters of safety arrangents
    • B60R2021/01252—Devices other than bags
    • B60R2021/01265—Seat belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/01286—Electronic control units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/12—Trucks; Load vehicles
    • B60W2300/125—Heavy duty trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses a control method, a device, electronic equipment and a storage medium for preventing rear-end collision, wherein the method is used for a heavy truck, the heavy truck comprises a rear-end collision preventing system, the rear-end collision preventing system comprises a sensing system and a protection device, the sensing system is used for sensing environment information behind the heavy truck, the protection device is used for executing corresponding protection measures according to the environment information sensed by the sensing system, and the method comprises the following steps: determining the working state of the rear-end collision prevention system; in a preset scene, if the rear-end collision preventing system is in an available state and the sensing system detects a possible collision, a preset rear-end collision preventing control operation is executed on the protection device. According to the method and the device, effective rear-end collision prevention control is realized under various scenes, and the risk of traffic rear-end collision accidents is reduced or avoided.

Description

Rear-end collision prevention control method and device, electronic equipment and storage medium
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a rear-end collision prevention control method and apparatus, an electronic device, and a storage medium.
Background
The existing heavy truck mainly protects passengers in a rear-end vehicle through an anti-collision guardrail arranged at the tail part. The existing part of passenger cars are provided with backward collision early warning, and the distance between the rear vehicles is detected by adopting a radar. When the distance of the rear vehicle is too close, the rear collision early warning alerts the driver of the vehicle through sound, characters, images and the like, and simultaneously alerts the driver of the rear vehicle through flashing double flashing lights and/or braking lights, so that rear-end collision accidents are avoided as much as possible.
In the related art, when a small-sized vehicle is in rear-end collision with a heavy truck, the anti-collision guardrail on the heavy truck cannot play a role in buffering well. That is, the small-sized vehicle still drills to the bottom of the heavy-duty truck, resulting in serious damage to the passenger compartment, and the survival rate of front passengers of the small-sized vehicle (such as a passenger car) is low. Further, even if the heavy truck is equipped with a rear collision warning, the above-mentioned problems cannot be solved when a small vehicle (such as a passenger car) rear-ends the heavy truck.
Disclosure of Invention
The embodiment of the application provides a rear-end collision prevention control method and device, electronic equipment and storage medium, so that effective rear-end collision prevention control is realized under different scenes, and the risk of traffic rear-end collision accidents is reduced or avoided.
The embodiment of the application adopts the following technical scheme:
in a first aspect, an embodiment of the present application provides a rear-end collision prevention control method, which is used for a heavy truck, where the heavy truck includes a rear-end collision prevention system, the rear-end collision prevention system includes a sensing system and a protection device, the sensing system is used for sensing environmental information behind the heavy truck, and the protection device is used for executing corresponding protection measures according to the environmental information sensed by the sensing system, and the method includes: determining the working state of the rear-end collision prevention system; in a preset scene, if the rear-end collision preventing system is in an available state and the sensing system detects a possible collision, a preset rear-end collision preventing control operation is executed on the protection device.
In some embodiments, the method further comprises: in a preset scene, if the collision time determined by the sensing system is smaller than a preset collision time early warning threshold, an in-vehicle alarm is carried out through an HMI interface of the heavy truck or an out-of-vehicle alarm is carried out through lamplight.
In some embodiments, the preset scene includes at least one of: the method comprises the steps of a static scene, a manual driving scene and an automatic driving scene, wherein in a preset scene, if the rear-end collision prevention system is in an available state and the sensing system detects possible collision, a preset rear-end collision prevention control operation is executed on the protection device, and the method comprises the following steps:
When the sensing system detects that the target vehicle is in rear-end collision, at least one of the following preset rear-end collision prevention control operations is executed on the protection device: cutting off a high-voltage power supply, unlocking all vehicle doors, opening all vehicle windows, closing a steering wheel memory function and a seat memory function, opening a double flashing lamp, and opening an in-vehicle reading lamp;
when the rear-end collision prevention system is in a usable state and the sensing system detects that collision is caused, the protection device performs preset rear-end collision prevention control operation on the protection device to detonate the protection device corresponding to the collision position, and the protection device forms a buffer protection layer.
In some embodiments, the perception system comprises: the left sensing system and the right sensing system, wherein the left sensing system is at a horizontal distance L1 to the left side of the bottom plate of the cargo box, the right sensing system is at a horizontal distance L3 to the right side of the bottom plate of the cargo box, the horizontal distance between the left sensing system and the right sensing system is L2, the L2 = 2 x L1 = 2 x L3, the left sensing system or the right sensing system comprises one or more of a millimeter wave radar, a monocular camera, a combination of collision sensors, a binocular camera, a combination of collision sensors, a laser radar and a combination of collision sensors, the protection device comprises a left protection device arranged below the left sensing system, the right protection device is arranged below the right sensing system, and the left protection device and the right protection device comprise an airbag assembly.
In some embodiments, in the preset scenario, if the rear-end collision preventing system is in an available state and the sensing system detects a possible collision, performing a preset rear-end collision preventing control operation on the protection device, including:
when the preset scene is an automatic driving scene, if the collision time determined by the sensing system is smaller than a preset collision time early warning threshold value of a preset multiple, the current automatic driving high-precision map is judged to display that the road condition in front meets the passing condition, and the automatic driving sensing module does not sense the front vehicle, so that the heavy truck is controlled to run in an accelerating mode.
In some embodiments, the determining the operating state of the rear-end collision avoidance system includes:
when the first preset conditions are judged to be met, determining that the working state of the sensing system is an available state, wherein the first preset conditions at least comprise one of the following: the power mode is ON, the high-precision map shows that the vehicle is positioned ON a closed road section, the communication between the vehicle controller and the sensing system is normal, the sensing system has no fault, the communication between the vehicle controller and the protection device is normal, the protection device has no fault, and the cargo compartment door is closed.
In some embodiments, the determining the operating state of the rear-end collision avoidance system includes:
When the second preset conditions are judged to be met, determining that the working state of the sensing system is a degradable use state, wherein the second preset conditions at least comprise one of the following: the power mode is ON, the high-precision map shows that the vehicle is positioned ON a closed road section, the communication between the vehicle controller and the left sensing system is normal, the sensing system is fault-free, the communication between the vehicle controller and the protection device is abnormal, or the protection device is fault, and the cargo compartment door is closed.
In some embodiments, the controlling the heavy truck to accelerate includes:
determining autopilot target acceleration in an autopilot scenario
a＝min[k(V Rear part (S) -V) 2 /2X,T max /RM]
Wherein k is a safety factor, V Rear part (S) In order to sense the speed of the rear vehicle detected by the system, V is the speed of the vehicle, and X is the senseRear vehicle distance, T, detected by the system max The maximum wheel end driving torque of the vehicle is represented by R, the rolling radius of wheels of the vehicle, and M, the whole vehicle mass of the vehicle.
In a second aspect, an embodiment of the present application further provides a rear-end collision preventing control device, where the rear-end collision preventing control device is used for a heavy truck, where the heavy truck includes a rear-end collision preventing system, the rear-end collision preventing system includes a sensing system and a protection device, the sensing system is used for sensing environmental information behind the heavy truck, and the protection device is used for executing corresponding protection measures according to the environmental information sensed by the sensing system, and the device includes:
The determining module is used for determining the working state of the rear-end collision preventing system; and the protection module is used for executing a preset rear-end collision prevention control operation on the protection device in a preset scene if the rear-end collision prevention system is in an available state and the sensing system detects a possible collision.
In a third aspect, embodiments of the present application further provide an electronic device, including: a processor; and a memory arranged to store computer executable instructions which, when executed, cause the processor to perform any of the methods described above.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device comprising a plurality of application programs, cause the electronic device to perform any of the methods described above.
The above-mentioned at least one technical scheme that this application embodiment adopted can reach following beneficial effect:
the working state of the rear-end collision preventing system is determined through a sensing system and a protecting device on the heavy truck, and in a preset scene, if the rear-end collision preventing system is in a usable state and the sensing system detects possible collision, preset rear-end collision preventing control operation is executed on the protecting device. Through the cooperation of the sensing system and the protection device, rear-end collision accidents are avoided as far as possible, and the risk of injury or death of rear vehicle passengers is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic flow chart of a rear-end collision prevention control method in an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating the installation of a sensing system in a rear-end collision prevention control method according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a rear-end collision prevention control device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device in an embodiment of the present application.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The technical terms of the application are as follows:
heavy truck: the truck with the mass of the whole truck being more than 14 tons comprises trucks, semi-trailer trains, dumpers, special trucks and the like.
Semi-trailer train: consists of a tractor and a semitrailer. Wherein the tractor and the semitrailer are connected by a traction seat mounted on the tractor.
Passenger car Passenger Vehicle is mainly used for carrying passengers and personal belongings thereof in design and technical characteristics, and comprises cars, sport utility vehicles, minibuses, light buses and special passenger cars.
Controller HMI: human Machine Interface, human-computer interaction interface.
Power mode: OFF gear, closing; ACC gear, available electrical accessories; an ON gear, and running; start gear, engine Start.
The high-precision map is machine-oriented map data used for automatic driving vehicles and has sub-meter positioning capability, road-level and lane-level planning capability and lane-level guiding capability.
And the collision time is the time when the vehicle collides with the front vehicle according to the current speed difference with the front vehicle.
And (3) rear collision early warning, detecting the rear environment of the vehicle in real time, and sending out warning information when the rear collision risk is possibly received.
Based on the functions of self-adaptive cruising, lane keeping and the like, navigation assistance is performed, positioning, driving route planning, driving route optimization are performed through a high-precision map, and the functions of automatic lane changing, automatic overtaking, driving in/out of a ramp, vehicle speed control and the like of vehicles on roads such as expressways, overhead roads, urban expressways and the like can be realized according to road information.
EEPROM: electrically Erasable Programmable Read Only Memory, an electrically erasable programmable read-write memory.
In the related art, although a mode of backward alarming is carried out on a backward vehicle so as to avoid rear-end collision accidents, a protective guard arranged on a heavy truck still cannot play a good protective role if collision occurs.
The rear-end collision prevention control method is used for the heavy truck, the heavy truck comprises a rear-end collision prevention system, the rear-end collision prevention system comprises a sensing system and a protection device, the sensing system is used for sensing environment information behind the heavy truck, and the protection device is used for executing corresponding protection measures according to the environment information sensed by the sensing system.
Specifically, the sensing system comprises a left sensing system and a right sensing system which are arranged at the tail part of a cargo box bottom plate of a heavy-duty cargo vehicle. The protection device comprises a left protection device arranged below the left sensing system, a right protection device arranged below the right sensing system, and an airbag group is preferably used for the left protection device and the right protection device.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
The embodiment of the application provides a rear-end collision prevention control method, as shown in fig. 1, and provides a flow diagram in the rear-end collision prevention control method, where the method at least includes the following steps S110 to S120:
step S110, determining the working state of the rear-end collision prevention system.
Determining whether the rear-end collision prevention system meets the available condition, if so, considering that the rear-end collision prevention system is available, and the working state of the rear-end collision prevention system comprises available or unavailable and can also comprise degradable use (perceivable, but the protection device cannot be used). Meanwhile, the sensing system is divided into left and right sides, and the fact that a large amount of offset phenomenon exists in view of the fact that a common heavy truck is wider is considered, so that the left and right sides are needed. When the working state is available, the sensing system is further activated.
It should be noted that the sensing system is also connected with the protecting device, and corresponding protecting measures are executed on the environmental information sensed by the sensing system.
In some embodiments, the rear-end collision prevention control method of the present application may be used with the semi-trailer train. The semi-trailer train consists of a tractor and a semi-trailer. Wherein the tractor and the semitrailer are connected through a traction seat arranged on the tractor, and the rear-end collision preventing system is arranged on the semitrailer.
In some embodiments, the rear-end collision preventing system may include a left side rear-end collision preventing system and a right side rear-end collision preventing system, and considering that the heavy truck is relatively wide, a great amount of offset collision phenomenon exists. The arrangement of the induction system and the protection device in the left rear-end collision prevention system and the right rear-end collision prevention system can cope with the offset collision condition.
Step S120, in a preset scenario, if the rear-end collision preventing system is in an available state and the sensing system detects a possible collision, executing a preset rear-end collision preventing control operation on the protection device.
The preset scene covers various scenes such as vehicle standstill, manual driving of the vehicle, automatic driving of the vehicle and the like. In these preset scenarios, if the rear-end collision prevention system is in an available state and the sensing system detects a possible collision, a preset rear-end collision prevention control operation may be performed by a protection device.
It should be noted that the protection device may receive the related control command and perform a preset rear-end collision prevention control operation, where the sensing system detects that a collision has occurred, so that the protection device needs to be triggered.
In addition, if the sensing system detects that collision is not generated, corresponding rear vehicle height warning and protection measures for relieving collision danger can be carried out.
And if the rear-end collision prevention system is available and the corresponding sensing system detects collision, triggering the corresponding protection device, and forming a buffer protection layer through the protection device to support the rear vehicle in collision, so that the risk of injury or death of passengers of the rear vehicle is reduced.
In one embodiment of the present application, the method further comprises: in a preset scene, if the collision time determined by the sensing system is smaller than a preset collision time early warning threshold, an in-vehicle alarm is carried out through an HMI interface of the heavy truck or an out-of-vehicle alarm is carried out through lamplight.
In the implementation, in the preset scene, if the collision time determined by the sensing system is smaller than the preset collision time early warning threshold value, the sensing system and the protection device in the rear-end collision prevention system are available, and the sensing system determines that the collision time is smaller than the preset collision time early warning threshold value, and at the moment, the rear-end collision prevention system is considered to be available and in an activated state.
Further, when the rear-end collision prevention system is in an available and activated state, an in-vehicle alarm is carried out through an HMI interface of the heavy truck or an out-of-vehicle alarm is carried out through lamplight.
The method can also comprise the following steps of alarming outside the vehicle: the controller controls the double flashing lights and the brake lights to flash at high frequency for warning the rear car driver.
In some embodiments, the preset scene is a stationary scene when the gear of the heavy truck is P or N and the vehicle is stationary. If the collision time calculated by the sensing system is smaller than the collision time early warning threshold, the rear-end collision prevention system is activated, for example, the controller alerts the driver of the vehicle in the forms of sound, characters, images and the like through the HMI: the rear vehicle is too close (by way of example only) and tightens all of the seat belts.
In some embodiments, the preset scene is a manual driving scene, when the gear of the heavy truck is N gear or D gear (the function is not activated when the gear is R gear), the vehicle runs forward, and when the automatic driving function is not activated (such as pilot assistance), if the collision time calculated by the sensing system is less than the collision time early warning threshold, the rear-end collision prevention system is activated, and the control method is as follows: alarming in a vehicle: the controller alerts the driver of the vehicle in the form of sound, words, images and the like through the HMI: the rear vehicle is too close, please accelerate away (for example only), and tighten all the belts. And (5) alarming outside the vehicle: the controller controls the double flashing lights and the brake lights to flash at high frequency for warning the rear car driver.
In some embodiments, the preset scene is an automatic driving scene, when the gear of the heavy truck is D gear, the vehicle is traveling forward, and the automatic driving function is activated (such as pilot assistance or other driving assistance functions), if the collision time calculated by the sensing system is less than the collision time early warning threshold, the rear-end collision prevention system is activated, and the control method is as follows: alarming in a vehicle: the controller alerts the driver of the vehicle in the form of sound, words, images and the like through the HMI: the rear vehicle is too close, please accelerate away (for example only), and tighten all the belts. And (5) alarming outside the vehicle: the controller controls the double flashing lights and the brake lights to flash at high frequency for warning the rear car driver.
When the rear-end collision risk exists due to too close distance of the rear vehicle, the driver is warned in the forms of sound, characters, images and the like through the HMI, all safety belts are tightened, and the rear-end collision accident is avoided as far as possible through high-frequency flashing of the double flashing lamps and the brake lamps.
In one embodiment of the present application, the preset scene includes at least one of the following: the method comprises the steps of a static scene, a manual driving scene and an automatic driving scene, wherein in a preset scene, if the rear-end collision prevention system is in an available state and the sensing system detects possible collision, a preset rear-end collision prevention control operation is executed on the protection device, and the method comprises the following steps: when the sensing system detects that the target vehicle is in rear-end collision, at least one of the following preset rear-end collision prevention control operations is executed on the protection device: cutting off a high-voltage power supply, unlocking all vehicle doors, opening all vehicle windows, closing a steering wheel memory function and a seat memory function, opening a double flashing lamp, and opening an in-vehicle reading lamp; when the rear-end collision prevention system is in a usable state and the sensing system detects that collision is caused, the protection device performs preset rear-end collision prevention control operation on the protection device to detonate the protection device corresponding to the collision position, and the protection device forms a buffer protection layer.
When the rear-end collision prevention system on one side is available and the corresponding sensing system detects collision, the control method is as follows: the controller detonates the corresponding protection device, and the protection device forms a buffer protection layer to support the rear vehicle, thereby reducing the risk of injury or death of the rear vehicle occupants.
When a side sensing system detects a rear-end collision of a large vehicle (usually, a small-sized rear-end heavy truck is considered, and the damage to a front truck is not large), the control method is as follows: the high-voltage power supply is cut off, so that personal safety is protected; unlocking all the vehicle doors to ensure that passengers or rescue workers in the vehicle can open the vehicle doors; all windows are opened, so that passengers can be prevented from being trapped when the vehicle falls into water; the steering wheel memory function and the seat memory function are closed, so that passengers are prevented from being trapped; opening the double flashing lights to warn other vehicles behind; and the reading lamp in the car is turned on, so that the night rescue is facilitated.
The preset scene can be an automatic driving scene, when the gear of the heavy truck is the D gear, the vehicle runs forwards, and the automatic driving function is activated. The preset scene can also be an artificial driving scene, when the gear of the heavy truck is N gear or D gear, the vehicle runs forwards, and the automatic driving function is not activated. The preset scene can also be a static scene, and when the gear of the heavy truck is P gear or N gear and the vehicle is static.
It should be noted that when the preset scene is an automatic driving scene, the automatic driving prompts the driver to take over the vehicle, and if the driver does not take over all the time, the automatic driving controls the vehicle to stop by the side after 10 seconds.
Considering that the collision traffic accident happens, the collision traffic accident can not escape.
In one embodiment of the present application, as shown in fig. 2, the sensing system includes: the left sensing system and the right sensing system, wherein the left sensing system is at a horizontal distance L1 to the left side of the bottom plate of the cargo box, the right sensing system is at a horizontal distance L3 to the right side of the bottom plate of the cargo box, the horizontal distance between the left sensing system and the right sensing system is L2, the L2 = 2 x L1 = 2 x L3, the left sensing system or the right sensing system comprises one or more of a millimeter wave radar, a monocular camera, a combination of collision sensors, a binocular camera, a combination of collision sensors, a laser radar and a combination of collision sensors, the protection device comprises a left protection device arranged below the left sensing system, the right protection device is arranged below the right sensing system, and the left protection device and the right protection device comprise an airbag assembly.
In specific implementation, the horizontal distance from the left sensing system to the left of the cargo box bottom plate is L1, the horizontal distance from the right sensing system to the right of the cargo box bottom plate is L3, and the horizontal distance from the left sensing system to the right sensing system is L2. In order to reduce the blind area of the sensing system, L1, L2 and L3 satisfy the formula:
L2＝2×L1＝2×L3
In some embodiments, the left sensing system and the right sensing system have the following preferred schemes respectively: a millimeter wave radar, a monocular camera, a collision sensor. A binocular camera, a collision sensor. A laser radar, a collision sensor. The different sensors in the scheme can be used in a superposition manner or can be independent, so that the sensing capability can be enhanced, and the embodiment of the application is not particularly limited. By reasonably arranging the left sensing system and the right sensing system, the blind area of the sensing system can be avoided.
In an embodiment of the present application, in the preset scenario, if the rear-end collision preventing system is in an available state and the sensing system detects a possible collision, executing a preset rear-end collision preventing control operation on the protection device, where the preset rear-end collision preventing control operation includes: when the preset scene is an automatic driving scene, if the collision time determined by the sensing system is smaller than a preset collision time early warning threshold value of a preset multiple, the situation that the road condition of a front drivable area is met by a current automatic driving high-precision map display is judged, and the front vehicle is not sensed by an automatic driving sensing module, so that the heavy truck is controlled to accelerate to run.
When the collision time calculated by the sensing system is smaller than 0.8 times (taking the preferred value) of the collision time early warning threshold, if the high-precision map of the front drivable area shows that the front is smooth and the automatic driving sensing system does not detect any vehicle in front of the lane where the vehicle is located, for example, within 200m, the automatic driving sensing system controls the vehicle to accelerate and drive away, and alerts the driver of the vehicle in the forms of sound, characters, images and the like: the rear vehicles are too close in distance and accelerate off. The automatic driving target acceleration calculation method refers to the formula:
a＝min[k(V rear part (S) -V) 2 /2X,T max /RM]
Wherein,
a is the target acceleration, and the unit is m/s 2 。
k is a safety factor, preferably a value of 1.2.
V Rear part (S) For sensing the speed of the rear vehicle detected by the system, the unit is m/s.
V is the speed of the vehicle in m/s.
X is the distance between the rear vehicles detected by the sensing system, and the unit is m.
T max The maximum wheel end drive torque for the host vehicle, in Nm, is provided by the torque module.
R is the rolling radius of the wheel of the vehicle, and the unit is m.
M is the whole vehicle mass of the vehicle, the unit is kg, and the whole vehicle mass estimation module provides the M.
As a preferred embodiment, the above method is adopted to calculate the automatic driving target acceleration
a＝min[k(V Rear part (S) -V) 2 /2X,T max /RM]
Wherein k is a safety factor, V Rear part (S) In order to sense the speed of the rear vehicle detected by the system, V is the speed of the vehicle, X is the distance of the rear vehicle detected by the sensing system, T max And (3) controlling the heavy truck to run in an accelerating way for the maximum wheel end driving torque of the vehicle, wherein R is the rolling radius of wheels of the vehicle, M is the whole vehicle mass of the vehicle, and thus the requirements of an automatic driving scene are met.
Under the automatic driving scene, when the collision time calculated by the sensing system is smaller than a collision time early warning threshold value of a certain multiple, if the high-precision map shows that the front drivable region is smooth and the automatic driving sensing system does not detect any vehicle in the range of the front drivable region of the lane where the vehicle is located, the vehicle is controlled to accelerate to drive away, and rear-end collision accidents are avoided as much as possible.
In some embodiments, for the above-described autopilot scenario, the controller responds to the driving torque calculated from the accelerator pedal if the driver (takeover) depresses the accelerator pedal at this time and the driving torque calculated from the accelerator pedal is greater than the driving torque calculated from the autopilot target acceleration.
In one embodiment of the present application, the determining the working state of the rear-end collision avoidance system includes: when the first preset conditions are judged to be met, determining that the working state of the sensing system is an available state, wherein the first preset conditions at least comprise one of the following: the power mode is ON, the high-precision map shows that the vehicle is positioned ON a closed road section, the communication between the vehicle controller and the sensing system is normal, the sensing system has no fault, the communication between the vehicle controller and the protection device is normal, the protection device has no fault, and the cargo compartment door is closed.
In the implementation, when the sensing system detects a rear-end collision of the target vehicle in different preset scenes, the following preset rear-end collision prevention control operation is executed on the protection device:
A. the power mode is ON (the rear-end collision prevention early warning and control is performed only when the vehicle is in a running (can be stationary or running) state by default).
B. The high-precision map shows that the vehicles are positioned on expressways, national roads, urban overhead and urban expressways, and the effect is more obvious when the rear-end collision prevention early warning and control is performed on the roads in consideration of the fact that the road environments are relatively closed and the vehicle speed is higher.
C. The controller communicates with the sensing system normally.
D. The sensing system is fault free.
E. The controller protection device communicates normally.
F. The protection device has no faults.
G. The cargo door is closed.
Furthermore, since the sensing system includes a left sensing system and a right sensing system, while satisfying all of the following conditions, the left rear-end collision prevention system (including a left sensing system, a left protection device) in the present application is available:
A. the power mode is ON
B. High-precision map shows that vehicle is located on expressway, national road, urban overhead and urban expressway
C. The controller communicates with the left perception system normally.
D. The left perception system has no faults.
E. The controller communicates with the left protection device normally.
F. The left protection device has no fault.
G. The cargo door is closed.
While satisfying all the following conditions, the right rear-end collision prevention system (including a right sensing system and a right protection device) in the application is available:
A. the power mode is ON.
B. The high-precision map shows that the vehicle is located on a highway, national road, urban overhead and urban expressway.
C. The controller communicates with the right sensing system normally.
D. The right perception system is fault free.
E. The controller communicates with the right protection device normally.
F. The right protection device has no fault.
G. The cargo door is closed.
In one embodiment of the present application, the determining the working state of the rear-end collision avoidance system includes: when the second preset conditions are judged to be met, determining that the working state of the sensing system is a degradable use state, wherein the second preset conditions at least comprise one of the following: the power mode is ON, the high-precision map shows that the vehicle is positioned ON a closed road section, the communication between the vehicle controller and the left sensing system is normal, the sensing system is fault-free, the communication between the vehicle controller and the protection device is abnormal, or the protection device is fault, and the cargo compartment door is closed.
In particular, the following conditions are met at the same time, and the left rear-end collision prevention system (including a left sensing system and a left protection device) in the application can be used in a degradation way (perceivable, but the protection device cannot be used):
A. the power mode is ON.
B. The high-precision map shows that the vehicle is located on a highway, national road, urban overhead and urban expressway.
C. The controller communicates with the left perception system normally.
D. The left perception system has no faults.
E. The controller communicates with the left protection device abnormally, or the left protection device fails.
F. The cargo door is closed.
At this time, if the function switch is on, the instrument displays degradation of the left rear-end collision prevention system. Otherwise, the left rear-end collision avoidance system is not available. At this time, if the function switch is on, the instrument displays that the left rear-end collision prevention system is not available.
Further, while satisfying all of the following conditions, the right rear end collision avoidance system (including the right side sensing system, the right side protection device) may be degraded in use (perceptible, but the protection device is not) in use:
A. the power mode is ON.
B. The high-precision map shows that the vehicle is located on a highway, national road, urban overhead and urban expressway.
C. The controller communicates with the right sensing system normally.
D. The right perception system is fault free.
E. The controller communicates with the right protection device abnormally, or the right protection device fails.
F. The cargo door is closed.
At this time, if the function switch is on, the instrument displays degradation of the right rear-end collision prevention system. Otherwise, the right rear-end collision avoidance system is not available. At this time, if the function switch is on, the instrument displays that the right rear-end collision prevention system is not available.
In some embodiments, the method for preventing the rear-end collision system from exiting the working state comprises the following steps:
when the rear-end collision preventing system is activated, any of the following conditions is met, and the rear-end collision preventing system exits:
A. when the function switch is off. The rear-end collision prevention system is provided with a functional switch (off and on) and is set to be on in a factory.
B. When the rear-end collision prevention system on any side (left side and right side) is available or can be used in a degrading mode, the collision time calculated by the sensing system is larger than a collision time early warning threshold value. I.e. no collision or risk of collision.
C. The rear-end collision prevention system on the active side is not available.
In one embodiment of the present application, the rear-end collision avoidance system being in a usable state includes: different preset early warning occasions, the preset collision time early warning threshold value is determined according to the preset early warning occasions, and the preset collision time early warning threshold value is related to the road surface adhesion correction coefficient and the road surface adhesion coefficient of the current running of the vehicle.
Illustratively, making the rear-end collision avoidance system available and active includes: when the rear-end collision early-warning time is a first preset time, the preset collision time early-warning threshold value is 3 multiplied by S s; when the rear-end collision early-warning time is a second preset time, the preset collision time early-warning threshold value is 2.7x S s; when the rear-end collision early-warning time is a third preset time, the preset collision time early-warning threshold is 2.4x S S, wherein s=0.8/μ, S is a road surface adhesion correction coefficient, and μ is a road surface adhesion coefficient.
In specific implementation, the activation method comprises the following steps: when the rear-end collision early-warning time is early, the collision time early-warning threshold value is 3× S s (preferred value); when the rear-end collision early-warning time is middle, the collision time early-warning threshold value is 2.7x S s (preferred value); when the rear-end collision early-warning timing is late, the collision time early-warning threshold value is 2.4× S s (preferred value). S is a road surface adhesion correction coefficient, and the calculation method satisfies the formula:
S＝0.8/μ
wherein: s is a road surface adhesion correction coefficient.
Mu is the road adhesion coefficient and is provided by the road adhesion estimation module.
It can be appreciated that the rear-end collision prevention early warning opportunity options (early, medium, late) can be factory set to medium.
In addition, before each dormancy, the controller (HMI) stores the function switch state and the rear-end collision early warning opportunity option state into the EEPROM. When the controller wakes up again, the last stored function switch state and rear-end collision early warning opportunity option state are read from the EEPROM again.
The embodiment of the present application further provides a rear-end collision prevention control device 300, as shown in fig. 3, and provides a schematic structural diagram of the rear-end collision prevention control device in the embodiment of the present application, where the rear-end collision prevention control device 300 at least includes: a determination module 310 and a guard module 320, wherein:
in one embodiment of the present application, the determining module 310 is specifically configured to: and determining the working state of the rear-end collision prevention system.
Determining whether the rear-end collision prevention system meets the available condition, if so, considering that the rear-end collision prevention system is available, and the working state of the rear-end collision prevention system comprises available or unavailable and can also comprise degradable use (perceivable, but the protection device cannot be used). Meanwhile, the sensing system is divided into left and right sides, and the fact that a large amount of offset phenomenon exists in view of the fact that a common heavy truck is wider is considered, so that the left and right sides are needed. When the working state is available, the sensing system is further activated.
It should be noted that the sensing system is also connected with the protecting device, and corresponding protecting measures are executed on the environmental information sensed by the sensing system.
In one embodiment of the present application, the protection module 320 is specifically configured to: in a preset scene, if the rear-end collision preventing system is in an available state and the sensing system detects a possible collision, a preset rear-end collision preventing control operation is executed on the protection device.
The preset scene covers various scenes such as vehicle standstill, manual driving of the vehicle, automatic driving of the vehicle and the like. In these preset scenarios, if the rear-end collision prevention system is in an available state and the sensing system detects a possible collision, a preset rear-end collision prevention control operation may be performed by a protection device.
It should be noted that the protection device may receive the related control command and perform a preset rear-end collision prevention control operation, where the sensing system detects that a collision has occurred, so that the protection device needs to be triggered.
In addition, if the sensing system detects that collision is not generated, corresponding rear vehicle height warning and protection measures for relieving collision danger can be carried out.
And if the rear-end collision prevention system is available and the corresponding sensing system detects collision, triggering the corresponding protection device, and forming a buffer protection layer through the protection device to support the rear vehicle, so that the risk of injury or death of passengers of the rear vehicle is reduced.
It can be understood that the rear-end collision prevention control device can implement each step of the rear-end collision prevention control method provided in the foregoing embodiment, and the relevant explanation about the rear-end collision prevention control method is applicable to the rear-end collision prevention control device, which is not repeated herein.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Referring to fig. 4, at the hardware level, the electronic device includes a processor, and optionally an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.
The processor, network interface, and memory may be interconnected by an internal bus, which may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 4, but not only one bus or type of bus.
And the memory is used for storing programs. In particular, the program may include program code including computer-operating instructions. The memory may include memory and non-volatile storage and provide instructions and data to the processor.
The processor reads the corresponding computer program from the nonvolatile memory to the memory and then runs the computer program to form the rear-end collision prevention control device on a logic level. The processor is used for executing the programs stored in the memory and is specifically used for executing the following operations:
determining the working state of the rear-end collision prevention system;
in a preset scene, if the rear-end collision preventing system is in an available state and the sensing system detects a possible collision, a preset rear-end collision preventing control operation is executed on the protection device.
The method executed by the rear-end collision prevention control device disclosed in the embodiment shown in fig. 1 of the present application may be applied to a processor or implemented by the processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or by instructions in the form of software. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory, and the processor reads the information in the memory and, in combination with its hardware, performs the steps of the above method.
The electronic device may also execute the method executed by the rear-end collision prevention control device in fig. 1, and implement the function of the rear-end collision prevention control device in the embodiment shown in fig. 1, which is not described herein again.
The embodiments of the present application also provide a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by an electronic device including a plurality of application programs, enable the electronic device to perform a method performed by the rear-end collision prevention control apparatus in the embodiment shown in fig. 1, and specifically are configured to perform:
determining the working state of the rear-end collision prevention system;
in a preset scene, if the rear-end collision preventing system is in an available state and the sensing system detects a possible collision, a preset rear-end collision preventing control operation is executed on the protection device.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (7)

1. The utility model provides a prevent control method behind a tail, wherein, be used for heavy truck, heavy truck includes the system of preventing behind a tail, the system of preventing behind a tail includes perception system, protection device, perception system is used for the environmental information behind the heavy truck of perception, protection device is used for carrying out corresponding safeguard measure according to the environmental information of perception system perception, the method includes:
determining the working state of the rear-end collision prevention system;
in a preset scene, if the rear-end collision preventing system is in an available state and the sensing system detects a possible collision, executing a preset rear-end collision preventing control operation on the protection device;
the determining the working state of the rear-end collision preventing system comprises the following steps:
when the first preset conditions are judged to be met, determining that the working state of the sensing system is an available state, wherein the first preset conditions comprise: the power mode is ON, the high-precision map shows that the vehicle is positioned ON a closed road section, the communication between the vehicle controller and the sensing system is normal, the sensing system has no fault, the communication between the vehicle controller and the protection device is normal, the protection device has no fault, and the cargo compartment door is closed;
when the second preset conditions are judged to be met, determining that the working state of the sensing system is a degradable use state, wherein the second preset conditions comprise: the power mode is ON, the high-precision map shows that the vehicle is positioned ON a closed road section, the communication between the vehicle controller and the left sensing system is normal, the sensing system is fault-free, the communication between the vehicle controller and the protection device is abnormal, or the protection device is fault, and the cargo compartment door is closed;
Wherein, the rear-end collision prevention system is in an available state and comprises: different preset early warning occasions, a preset collision time early warning threshold value is determined according to the preset early warning occasions, and the preset collision time early warning threshold value is related to the road surface adhesion correction coefficient and the road surface adhesion coefficient of the current running of the vehicle.
2. The method of claim 1, wherein the method further comprises:
in a preset scene, if the collision time determined by the sensing system is smaller than a preset collision time early warning threshold, an in-vehicle alarm is carried out through an HMI interface of the heavy truck or an out-of-vehicle alarm is carried out through lamplight.
3. The method of claim 2, wherein the preset scene comprises at least one of: the method comprises the steps of a static scene, a manual driving scene and an automatic driving scene, wherein in a preset scene, if the rear-end collision prevention system is in an available state and the sensing system detects possible collision, a preset rear-end collision prevention control operation is executed on the protection device, and the method comprises the following steps:
when the sensing system detects that the target vehicle is in rear-end collision, at least one of the following preset rear-end collision prevention control operations is executed on the protection device: cutting off a high-voltage power supply, unlocking all vehicle doors, opening all vehicle windows, closing a steering wheel memory function and a seat memory function, opening a double flashing lamp, and opening an in-vehicle reading lamp;
When the rear-end collision prevention system is in a usable state and the sensing system detects that collision is caused, the protection device performs preset rear-end collision prevention control operation on the protection device to detonate the protection device corresponding to the collision position, and the protection device forms a buffer protection layer.
4. A method as claimed in claim 3, wherein the perception system comprises: the left sensing system and the right sensing system, wherein the left sensing system is at a horizontal distance L1 to the left side of the bottom plate of the cargo box, the right sensing system is at a horizontal distance L3 to the right side of the bottom plate of the cargo box, the horizontal distance between the left sensing system and the right sensing system is L2, the L2 = 2 x L1 = 2 x L3, the left sensing system or the right sensing system comprises one or more of a millimeter wave radar, a monocular camera, a combination of collision sensors, a binocular camera, a combination of collision sensors, a laser radar and a combination of collision sensors, the protection device comprises a left protection device arranged below the left sensing system, the right protection device is arranged below the right sensing system, and the left protection device and the right protection device comprise an airbag assembly.
5. A method as claimed in claim 3, wherein said performing a preset rear-end collision avoidance control operation at the protection device if the rear-end collision avoidance system is in an available state and the perception system detects a possible collision in a preset scenario comprises:
When the preset scene is an automatic driving scene, if the collision time determined by the sensing system is smaller than a preset collision time early warning threshold value of a preset multiple, the current automatic driving high-precision map is judged to display that the road condition in front meets the passing condition, and the automatic driving sensing module does not sense the front vehicle, so that the heavy truck is controlled to run in an accelerating mode.
6. The utility model provides a prevent controlling means that overtakes, wherein is used for heavy truck, heavy truck is including preventing the rear-end collision system, prevent that the rear-end collision system includes perception system, protection device, perception system is used for the environmental information at perception heavy truck rear, protection device is used for carrying out corresponding safeguard according to the environmental information of perception system perception, the device includes:
the determining module is used for determining the working state of the rear-end collision preventing system;
the protection module is used for executing preset rear-end collision prevention control operation on the protection device in a preset scene if the rear-end collision prevention system is in an available state and the sensing system detects possible collision;
the determining the working state of the rear-end collision preventing system comprises the following steps:
when the first preset conditions are judged to be met, determining that the working state of the sensing system is an available state, wherein the first preset conditions comprise: the power mode is ON, the high-precision map shows that the vehicle is positioned ON a closed road section, the communication between the vehicle controller and the sensing system is normal, the sensing system has no fault, the communication between the vehicle controller and the protection device is normal, the protection device has no fault, and the cargo compartment door is closed;
When the second preset conditions are judged to be met, determining that the working state of the sensing system is a degradable use state, wherein the second preset conditions comprise: the power mode is ON, the high-precision map shows that the vehicle is positioned ON a closed road section, the communication between the vehicle controller and the left sensing system is normal, the sensing system is fault-free, the communication between the vehicle controller and the protection device is abnormal, or the protection device is fault, and the cargo compartment door is closed;
wherein, the rear-end collision prevention system is in an available state and comprises: different preset early warning occasions, a preset collision time early warning threshold value is determined according to the preset early warning occasions, and the preset collision time early warning threshold value is related to the road surface adhesion correction coefficient and the road surface adhesion coefficient of the current running of the vehicle.
7. An electronic device, comprising:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method of any of claims 1 to 5.
CN202210965955.5A 2022-08-12 2022-08-12 Rear-end collision prevention control method and device, electronic equipment and storage medium Active CN115158211B (en)

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CN107600014A (en) * 2017-10-12 2018-01-19 贾恒宏 A kind of back buffer beam assembly for van
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Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103010210A (en) * 2012-09-04 2013-04-03 浙江吉利汽车研究院有限公司杭州分公司 Automobile active rear-ending-preventing control system and control method
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CN107600014A (en) * 2017-10-12 2018-01-19 贾恒宏 A kind of back buffer beam assembly for van
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